Closed mhubii closed 3 weeks ago
for future reference, it would be good if the remote could be configured from the client
# these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface
remote:
control_mode: "position"
control_rate: 100
client_command_mode: position # the command mode specifies the user-sent commands. Available: [position, torque, wrench]
client:
fri:
port_id: 30200 # port id for the UDP communication. Useful in multi-robot setups
remote_host: INADDR_ANY # the expected robot IP address. INADDR_ANY will accept any incoming connection
lbr_fri_ros2:
rt_prio: 80 # real-time priority for the control loop
pid_p: 10.0 # P gain for the joint position (useful for asynchronous control)
pid_i: 0.0 # I gain for the joint position command
pid_d: 0.0 # D gain for the joint position command
pid_i_max: 0.0 # max integral value for the joint position command
pid_i_min: 0.0 # min integral value for the joint position command
pid_antiwindup: false # enable antiwindup for the joint position command
command_guard_variant: default # if requested position / velocities beyond limits, CommandGuard will be triggered and shut the connection. Available: [default, safe_stop]
external_torque_cutoff_frequency: 10 # low-pass filter for the external joint torque measurements [Hz]
measured_torque_cutoff_frequency: 10 # low-pass filter for the joint torque measurements [Hz]
open_loop: true # KUKA works the best in open_loop control mode
lbr_ros2_control:
estimated_ft_sensor: # estimates the external force-torque from the external joint torque values
chain_root: link_0
chain_tip: link_ee
damping: 0.2 # damping factor for the pseudo-inverse of the Jacobian
force_x_th: 2.0 # x-force threshold. Only if the force exceeds this value, the force will be considered
force_y_th: 2.0 # y-force threshold. Only if the force exceeds this value, the force will be considered
force_z_th: 2.0 # z-force threshold. Only if the force exceeds this value, the force will be considered
torque_x_th: 0.5 # x-torque threshold. Only if the torque exceeds this value, the torque will be considered
torque_y_th: 0.5 # y-torque threshold. Only if the torque exceeds this value, the torque will be considered
torque_z_th: 0.5 # z-torque threshold. Only if the torque exceeds this value, the torque will be considered
Extension of https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/174
This PR targets
2.0.0
. This will likely be the last majorhumble
release and should pave the way for ROS index binaries. Following PRs will aim atrolling
.Contributors
151: Nicolai-98
175: StephanSchwarz96
Related PRs
158
155
151
161
170
Issues Tracker
9 (following
1.5.0
)163
165
172
159
189
187
Desired Changes
Add(would require source, which renders it redundant)${ROS_DISTRO}
to install instructionIntroduce node composition in launch filesto be done later Blockers:ros2_control
via composition: https://github.com/ros-controls/ros2_control/issues/1261rviz2
via composition: https://github.com/ros2/rviz/issues/1114ros2_control_node
: Read robot description from robot state publisherUse an event handler for robot state publisherhttps://github.com/ros-controls/ros2_control/issues/1262lbr_fri_msgs
lbr_fri_ros2
interface testslbr_bringup
, or intolaunch_mixins
, see https://github.com/mhubii/demo_launchworld
->lbr/world
app.launch.py
from demos in favor forros2_control
variant (⚠️ breaking change)v1.4.x
ros2_control
in readmegazebo_ros2_control
package inlbr.gazebo.xacro
lbr_fri_msgs
->lbr_fri_idl
LBRPositionCommand
->LBRJointPositionCommand
https://x.com/jdorfman/status/1655582823082782721?s=20